相关论文: PneuDrive: An Embedded Pressure Control System and…
Tactile sensing plays a fundamental role in enabling robots to navigate dynamic and unstructured environments, particularly in applications such as delicate object manipulation, surface exploration, and human-robot interaction. In this…
We present a novel reinforcement learning method to train the quadruped robot in a simulated environment. The idea of controlling quadruped robots in a dynamic environment is quite challenging and my method presents the optimum policy and…
Variable stiffness actuator (VSA) designs are manifold. Conventional model-based control of these nonlinear systems is associated with high effort and design-dependent assumptions. In contrast, machine learning offers a promising…
Continuum soft robots are inherently underactuated and subject to intrinsic input constraints, making dynamic control particularly challenging, especially in hybrid rigid-soft robots. While most existing methods focus on quasi-static…
Soft robotic actuators are safe and adaptable devices with inherent compliance, which makes them attractive for manipulating delicate and complex objects. Researchers have integrated stiff materials into soft actuators to increase their…
Non-prehensile planar manipulation, including pushing and press-and-slide, is critical for diverse robotic tasks, but notoriously challenging due to hybrid contact mechanics, under-actuation, and asymmetric friction limits that…
Soft robots have been leveraged in considerable areas like surgery, rehabilitation, and bionics due to their softness, flexibility, and safety. However, it is challenging to produce two same soft robots even with the same mold and…
Reduced-order models (ROMs) have become an essential tool for reducing the computational cost of fluid flow simulations. While standard ROMs can efficiently approximate laminar flows, their accuracy often suffers in convection-dominated…
The current fabrication and assembly of fluidic circuits for soft robots relies heavily on manual processes; as the complexity of fluidic circuits increases, manual assembly becomes increasingly arduous, error-prone, and timeconsuming. We…
The Robot Operating System (ROS) has significantly gained popularity among robotic engineers and researchers over the past five years, primarily due to its powerful infrastructure for node communication, which enables developers to build…
This paper addresses the challenges of distributed formation control in multiple mobile robots, introducing a novel approach that enhances real-world practicability. We first introduce a distributed estimator using a variable structure and…
Fluid-based soft actuators are an attractive option for lightweight and human-safe robots. These actuators, combined with fluid pressure force feedback, are in principle a form of series-elastic actuation (SEA), in which nearly all…
Soft robotics has been a trending topic within the robotics community for almost two decades. However, available tools for the modeling and analysis of soft robots are still limited. This paper introduces a user-friendly MATLAB toolbox,…
We propose reaching steps towards the real-time strain control of multiphysics, multiscale continuum soft robots. To study this problem fundamentally, we ground ourselves in a model-based control setting enabled by mathematically precise…
While magnetic micro-robots have demonstrated significant potential across various applications, including drug delivery and microsurgery, the open issue of precise navigation and control in complex fluid environments is crucial for in vivo…
Deep reinforcement learning is becoming increasingly popular for robot control algorithms, with the aim for a robot to self-learn useful feature representations from unstructured sensory input leading to the optimal actuation policy. In…
Decades of research in control theory have shown that simple controllers, when provided with timely feedback, can control complex systems. Pushing is an example of a complex mechanical system that is difficult to model accurately due to…
Soft robots are made of compliant materials that perform their tasks by deriving motion from elastic deformations. They are used in various applications, e.g., for handling fragile objects, navigating sensitive/complex environments, etc.,…
Dynamic control of a soft-body robot to deliver complex behaviors with low-dimensional actuation inputs is challenging. In this paper, we present a computational approach to automatically generate versatile, underactuated control policies…
Soft robots have drawn significant attention recently for their ability to achieve rich shapes when interacting with complex environments. However, their elasticity and flexibility compared to rigid robots also pose significant challenges…